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Migrate mjtByte to mjtBool for boolean-valued fields.

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PiperOrigin-RevId: 921408093
Change-Id: Icb00457836359779f0f72fc02d6a7c0dc9f6bd23
This commit is contained in:
Yuval Tassa
2026-05-26 05:35:15 -07:00
committed by Copybara-Service
parent 3cabb2eb8e
commit 393c1e4217
33 changed files with 242 additions and 224 deletions
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src/engine/engine_collision_driver.c
+17 -17
View File
@@ -843,10 +843,10 @@ typedef struct {
int mj_collideOBB(const mjtNum aabb1[6], const mjtNum aabb2[6],
const mjtNum xpos1[3], const mjtNum xmat1[9],
const mjtNum xpos2[3], const mjtNum xmat2[9], mjtNum margin,
mjtNum product[36], mjtNum offset[12], mjtByte* initialize) {
mjtNum product[36], mjtNum offset[12], mjtBool* initialize) {
// get infinite dimensions (planes only)
mjtByte inf1[3] = {aabb1[3] >= mjMAXVAL, aabb1[4] >= mjMAXVAL, aabb1[5] >= mjMAXVAL};
mjtByte inf2[3] = {aabb2[3] >= mjMAXVAL, aabb2[4] >= mjMAXVAL, aabb2[5] >= mjMAXVAL};
mjtBool inf1[3] = {aabb1[3] >= mjMAXVAL, aabb1[4] >= mjMAXVAL, aabb1[5] >= mjMAXVAL};
mjtBool inf2[3] = {aabb2[3] >= mjMAXVAL, aabb2[4] >= mjMAXVAL, aabb2[5] >= mjMAXVAL};
// if a bounding box is infinite, there must be a collision
if ((inf1[0] && inf1[1] && inf1[2]) || (inf2[0] && inf2[1] && inf2[2])) {
@@ -858,7 +858,7 @@ int mj_collideOBB(const mjtNum aabb1[6], const mjtNum aabb2[6],
const mjtNum *xpos[2] = {xpos1, xpos2};
mjtNum xcenter[2][3], normal[2][3][3];
mjtNum proj[2], radius[2];
mjtByte infinite[2] = {inf1[0] || inf1[1] || inf1[2], inf2[0] || inf2[1] || inf2[2]};
mjtBool infinite[2] = {inf1[0] || inf1[1] || inf1[2], inf2[0] || inf2[1] || inf2[2]};
// compute centers in local coordinates
if (product == NULL) {
@@ -940,8 +940,8 @@ int mj_collideOBB(const mjtNum aabb1[6], const mjtNum aabb2[6],
void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
int merged, int startadr, int pairadr) {
int nbody = m->nbody, nbvhstatic = m->nbvhstatic;
mjtByte isbody1 = (bf1 < nbody);
mjtByte isbody2 = (bf2 < nbody);
mjtBool isbody1 = (bf1 < nbody);
mjtBool isbody2 = (bf2 < nbody);
int f1 = isbody1 ? -1 : bf1 - nbody;
int f2 = isbody2 ? -1 : bf2 - nbody;
int mark_active = m->vis.global.bvactive;
@@ -957,7 +957,7 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
// used with rotated bounding boxes (when bodies are involved)
mjtNum product[36]; // 2 bb x 2 bb x 3 axes (body) x 3 axes (world)
mjtNum offset[12]; // 2 bb x 2 bb x 3 axes (world)
mjtByte initialize = 1;
mjtBool initialize = true;
// bitmask filter for bodyflex pair
if (!canCollide2(m, bf1, bf2)) {
@@ -997,8 +997,8 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
nstack--;
int node1 = stack[nstack].node1;
int node2 = stack[nstack].node2;
mjtByte isleaf1 = (child1[2*node1] < 0) && (child1[2*node1+1] < 0);
mjtByte isleaf2 = (child2[2*node2] < 0) && (child2[2*node2+1] < 0);
mjtBool isleaf1 = (child1[2*node1] < 0) && (child1[2*node1+1] < 0);
mjtBool isleaf2 = (child2[2*node2] < 0) && (child2[2*node2+1] < 0);
int nodeid1 = m->bvh_nodeid[bvhadr1 + node1];
int nodeid2 = m->bvh_nodeid[bvhadr2 + node2];
@@ -1035,8 +1035,8 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
mj_narrowphase(m, d, pair, 1, 0);
}
if (mark_active) {
d->bvh_active[node1 + bvhadr1] = 1;
d->bvh_active[node2 + bvhadr2] = 1;
d->bvh_active[node1 + bvhadr1] = true;
d->bvh_active[node2 + bvhadr2] = true;
}
}
}
@@ -1074,8 +1074,8 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
mj_collideGeomElem(m, d, nodeid1, f2, nodeid2);
}
if (mark_active) {
d->bvh_active[node1 + bvhadr1] = 1;
d->bvh_active[node2 + bvhadr2] = 1;
d->bvh_active[node1 + bvhadr1] = true;
d->bvh_active[node2 + bvhadr2] = true;
}
}
}
@@ -1104,8 +1104,8 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
if (isleaf1 && isleaf2) {
mj_collideElems(m, d, f1, nodeid1, f2, nodeid2);
if (mark_active) {
d->bvh_active[node1 + bvhadr1] = 1;
d->bvh_active[node2 + bvhadr2] = 1;
d->bvh_active[node1 + bvhadr1] = true;
d->bvh_active[node2 + bvhadr2] = true;
}
continue;
}
@@ -1118,8 +1118,8 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
}
if (mark_active) {
d->bvh_active[node1 + bvhadr1] = 1;
d->bvh_active[node2 + bvhadr2] = 1;
d->bvh_active[node1 + bvhadr1] = true;
d->bvh_active[node2 + bvhadr2] = true;
}
// keep traversing the tree